// Copyright (c) 2018, Bosch Software Innovations GmbH.
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the copyright holder nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.


#include <gmock/gmock.h>

#include <OgreMatrix3.h>
#include <OgreQuaternion.h>
#include <OgreVector.h>

#include "../../../../src/rviz_default_plugins/displays/odometry/quaternion_helper.hpp"

using namespace ::testing;  // NOLINT

TEST(QuaternionHelper, ogreQuaternionHelper_returns_0_for_equal_inputs) {
  Ogre::Quaternion quaternion(1.0f, 0.0f, 0.0f, 0.0f);

  EXPECT_THAT(
    rviz_default_plugins::ogreQuaternionAngularDistance(quaternion, quaternion), Eq(0.0f));
}

TEST(QuaternionHelper, ogreQuaternionHelper_returns_angle) {
  Ogre::Vector3 axis(1, 2, 3);
  axis.normalise();
  Ogre::Quaternion quaternion1;
  quaternion1.FromAngleAxis(Ogre::Radian(0.0f), axis);
  Ogre::Quaternion quaternion2;
  quaternion2.FromAngleAxis(Ogre::Radian(0.5f), axis);
  Ogre::Quaternion quaternion3;
  quaternion3.FromAngleAxis(Ogre::Radian(1.2f), axis);
  Ogre::Quaternion quaternion4;
  quaternion4.FromAngleAxis(Ogre::Radian(1.0e-6f), axis);

  EXPECT_THAT(
    rviz_default_plugins::ogreQuaternionAngularDistance(quaternion1, quaternion2),
    FloatNear(0.5f, 1.0e-6f));
  EXPECT_THAT(
    rviz_default_plugins::ogreQuaternionAngularDistance(quaternion1, quaternion3),
    FloatNear(1.2f, 1.0e-6f));
  EXPECT_THAT(
    rviz_default_plugins::ogreQuaternionAngularDistance(quaternion1, quaternion4),
    FloatNear(1.0e-6f, 1.0e-6f));
}
